init

examples/StepperTest.py

@@ -0,0 +1,38 @@
+#!/usr/bin/python
+#import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_Stepper 
+from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
+
+import time
+import atexit
+
+# create a default object, no changes to I2C address or frequency
+mh = Adafruit_MotorHAT()
+
+# recommended for auto-disabling motors on shutdown!
+def turnOffMotors():
+	mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
+	mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
+	mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
+	mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
+
+atexit.register(turnOffMotors)
+
+myStepper = mh.getStepper(200, 2)  	# 200 steps/rev, motor port #1
+myStepper.setSpeed(30)  		# 30 RPM
+
+while (True):
+	print("Single coil steps")
+	myStepper.step(100, Adafruit_MotorHAT.FORWARD,  Adafruit_MotorHAT.SINGLE)
+	myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.SINGLE)
+
+	print("Double coil steps")
+	myStepper.step(100, Adafruit_MotorHAT.FORWARD,  Adafruit_MotorHAT.DOUBLE)
+	myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.DOUBLE)
+
+	print("Interleaved coil steps")
+	myStepper.step(100, Adafruit_MotorHAT.FORWARD,  Adafruit_MotorHAT.INTERLEAVE)
+	myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.INTERLEAVE)
+
+	print("Microsteps")
+        myStepper.step(100, Adafruit_MotorHAT.FORWARD,  Adafruit_MotorHAT.MICROSTEP)
+        myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.MICROSTEP)